Motor control method, apparatus, and system

ABSTRACT

An unmanned aerial vehicle includes a fuselage, a motor mounted at the fuselage, and a control apparatus configured to control the motor. The control apparatus includes one or more processors configured to obtain a present electrical parameter of a battery configured to power the motor, calculate a compensation amount of a control signal of the motor according to the present electrical parameter, and modify the control signal according to the compensation amount.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of application Ser. No. 16/116,279,filed Aug. 29, 2018, which is a continuation of InternationalApplication No. PCT/CN2016/075097, filed on Mar. 1, 2016, the entirecontents of both of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of unmanned aerial vehicleand, more particularly, to a method, a device, and a system forcontrolling a motor.

BACKGROUND

In conventional technologies, a battery supplies power to an electronicspeed controller (ESC), such that the ESC outputs a voltage to a motorand thus control a speed of the motor. The ESC receives a throttlesignal sent from a flight controller. An increased high-level pulsewidth, i.e., an increased high-level pulse time duration, of thethrottle signal may indicate that a higher rotation speed of the motormay be needed by the flight controller.

However, a voltage of the battery continuously decreases during thedischarging process. Compared with an original full voltage of thebattery, the voltage outputted from the ESC to the motor decreases asthe battery voltage decreases, when the ESC receives a same throttlesignal. Thus, the rotation speed of the motor decreases. When anunmanned aerial vehicle performs actions that need high mobility, issuesof slow response often occur, and the unmanned aerial vehicle hasdecreasing power during a flight.

SUMMARY

In accordance with the disclosure, there is provided a method forcontrolling a motor. The method includes obtaining a present electricalparameter of a battery, calculating a compensation amount of a controlsignal of the motor according to the present electrical parameter, andmodifying the control signal according to the compensation amount.

Also in accordance with the disclosure, there is provided another methodfor controlling a motor. The method includes obtaining a presentelectrical parameter of a battery, calculating a voltage compensationamount of the battery according to the present electrical parameter, andcompensating an output voltage of the battery according to the voltagecompensation amount to maintain the output voltage of the batterystable.

Also in accordance with the disclosure, there is provided an apparatusfor controlling a motor. The apparatus includes one or more processors.The one or more processors are configured to obtain a present electricalparameter of a battery, calculate a compensation amount of a controlsignal of the motor according to the present electrical parameter, andmodify the control signal according to the compensation amount.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flowchart of an exemplary motor control method consistentwith various disclosed embodiments of the present disclosure.

FIG. 2 is a topological diagram for an exemplary motor control methodconsistent with various disclosed embodiments of the present disclosure.

FIG. 3 is a flowchart of another exemplary motor control methodconsistent with various disclosed embodiments of the present disclosure.

FIG. 4 is a flowchart of another exemplary motor control methodconsistent with various disclosed embodiments of the present disclosure.

FIG. 5 is a flowchart of another exemplary motor control methodconsistent with various disclosed embodiments of the present disclosure.

FIG. 6 is a flowchart of another exemplary motor control methodconsistent with various disclosed embodiments of the present disclosure.

FIG. 7 is another topological diagram for an exemplary motor controlmethod consistent with various disclosed embodiments of the presentdisclosure.

FIG. 8 is a block diagram of an exemplary motor control apparatusconsistent with various disclosed embodiments of the present disclosure.

FIG. 9 is a block diagram of an exemplary power system consistent withvarious disclosed embodiments of the present disclosure.

FIG. 10 is a block diagram of an exemplary motor control apparatusconsistent with various disclosed embodiments of the present disclosure.

FIG. 11 is a block diagram of another exemplary power system consistentwith various disclosed embodiments of the present disclosure.

FIG. 12 is a schematic structural diagram of an exemplary unmannedaerial vehicle (UAV) consistent with various disclosed embodiments ofthe present disclosure.

Reference numerals used in the drawings include: 20, battery; 21,electronic speed controller (ESC); 22, motor; 23, flight controller; 24,voltage sensor; 25, switch controller; 26, switch; 27, external powersupply; 1001, power system; 1002, propeller; and 1003, electronic speedcontroller (ESC).

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that the describedembodiments are some rather than all of the embodiments of the presentdisclosure. Other embodiments conceived by those having ordinary skillsin the art on the basis of the described embodiments without inventiveefforts should fall within the scope of the present disclosure.

As used herein, when a first component is referred to as “fixed to” asecond component, it is intended that the first component may bedirectly attached to the second component or may be indirectly attachedto the second component via another component. When a first component isreferred to as “connecting” to a second component, it is intended thatthe first component may be directly connected to the second component ormay be indirectly connected to the second component via a thirdcomponent between them. The terms “perpendicular,” “horizontal,” “left,”“right,” and similar expressions used herein are merely intended fordescription.

Unless otherwise defined, all the technical and scientific terms usedherein have the same or similar meanings as generally understood by oneof ordinary skill in the art. As described herein, the terms used in thespecification of the present disclosure are intended to describeexemplary embodiments, instead of limiting the present disclosure. Theterm “and/or” used herein includes any suitable combination of one ormore related items listed.

Further, in the present disclosure, the disclosed embodiments and thefeatures of the disclosed embodiments may be combined when there are noconflicts.

The present disclosure provides a method for controlling a motor. FIG. 1is a flowchart of an exemplary motor control method consistent withvarious disclosed embodiments of the present disclosure. FIG. 2 is atopological diagram for an exemplary motor control method consistentwith various disclosed embodiments of the present disclosure. As shownin FIG. 2, a battery 20 provides power to an electronic speed controller(ESC) 21. The ESC 21 outputs a voltage to a motor 22 to cause the motorto rotate, and controls an operating status of the motor 22, such as arotation speed, steering, or the like. A flight controller 23 sends athrottle signal to the ESC 21 through a wireless transmission. The ESC21 controls a magnitude of the voltage outputted to the motor 22according to a magnitude of the throttle signal, and thus controls amagnitude of the rotation speed of the motor 22. In some embodiments,the throttle signal may include a rectangular wave. Further, anincreased high-level pulse width, i.e., an increased high-level pulsetime duration, of the rectangular wave may indicate that the flightcontroller 23 may need the motor to rotate at a higher rotation speed.As the battery voltage continuously decreases during the dischargingprocess, the rotation speed of the motor may decrease. Thus, when theUAV performs actions that need high mobility, issues of slow responsemay occur, and the power of the UAV may decrease during a flight. Thepresent disclosure provides a motor control method that solves thisproblem. The control method can be implemented, e.g., by a controlapparatus of the motor. The control apparatus may be coupled to themotor, and may obtain the present electrical parameter of the battery.With reference to FIG. 1, the method is described below.

At S101, a present electrical parameter of the battery is obtained.

In some embodiments, the battery may be coupled to an electricalparameter sensor, and the electrical parameter sensor may be used fordetecting an electrical parameter of the battery. In some embodiments,the control apparatus may obtain a present electrical parameter of thebattery from the electrical parameter sensor. In some other embodiments,the control apparatus may include an electrical parameter detectioncircuit. The electrical parameter detection circuit may be used fordetecting the present electrical parameter of the battery. The presentelectrical parameter may include at least one of a present electricalcharge quantity of the battery, a present voltage of the battery, apresent output electrical current of the battery, or a present internalresistance of the battery.

At S102, a compensation amount of a control signal of the motor iscalculated according to the present electrical parameter.

The electrical parameter of the battery may continuously change duringdischarge. For example, an electrical charge quantity of the battery maycontinuously decrease, an output voltage of the battery may continuouslydecrease, and an output power of the battery may continuously decrease.For a same throttle signal, in order to prevent the control signal forthe motor from fluctuating with a variation of the battery electricalparameter, i.e., the electrical parameter of the battery, in someembodiments, a compensation amount of the control signal for the motorthat needs to be compensated due to the change of the electricalparameter of the battery may be calculated according to the presentelectrical parameter of the battery.

In some embodiments, the control signal of the motor may include atleast one of a control signal configured to control a rotation speed ofthe motor or a control signal configured to control an output power ofthe motor.

At S103, the control signal of the motor is modified according to thecompensation amount of the control signal.

According to the compensation amount calculated in the above processes,the control signal of the motor may be modified. Since the controlsignal of the motor decreases with the drop of the battery electricalparameter, in some embodiments, a modification method may include addingthe compensation amount to an original control signal of the motor.

In some embodiments, the present electrical parameter of the battery mayinclude a characteristic parameter associated with the battery itself,and the control signal for the motor may include a parameter associatedwith a motor characteristic, which are not restricted in the presentdisclosure.

In some embodiments, a compensation amount of the control signal of themotor may be calculated according to the present electrical parameter ofthe battery, and the control signal of the motor may be modifiedaccording to the compensation amount of the control signal, such thatthe control signal of the motor is prevented from fluctuating along withthe change of the electrical parameter of the battery. Correspondingly,motor control signals under control of a same throttle signal may beprevented from being different. Thus, when a UAV performs actions thatneed high mobility, occurrence of issues of slow response and decreasingpower of the UAV during a flight may be suppressed.

The present disclosure provides another motor control method. Inaddition to the above-described examples, a compensation amount of thecontrol signal of the motor may be calculated through a feedforwardcontrol approach, and a control signal of the motor may be modifiedaccording to the compensation amount of the control signal. FIG. 3 is aflowchart of another exemplary motor control method consistent withvarious disclosed embodiments of the present disclosure. With referenceto FIG. 3, the method is described below.

At S301, a present voltage of the battery is obtained.

In some embodiments, the present electrical parameter of the battery mayinclude a present battery voltage, i.e., the present voltage of thebattery. The approach to obtain the present battery voltage may includecoupling a voltage sensor to two terminals of the battery, i.e., thepower supply, in parallel. The voltage sensor may detect the batteryvoltage in real time, or periodically detect the battery voltage. Thevoltage sensor may be coupled to the control apparatus and controlled bythe control apparatus to detect the battery voltage. In someembodiments, the control apparatus may send a collection control signalto the voltage sensor, such that the voltage sensor may obtain thepresent battery voltage according to the collection control signal.

At S302, a compensation amount of the control signal of the motorcorresponding to a subsequent time point is calculated according to thepresent battery voltage, also referred to as a “present voltage of thebattery,” and a preset voltage model. In some embodiments, in the presetvoltage model, battery voltages correspond to preset compensationamounts in a one-to-one manner.

In some embodiments, a voltage model may be preset according to adischarge curve of the battery. The voltage model, e.g., the presetvoltage model, may indicate a correspondence between the batteryvoltages and the compensation amounts of the control signal for themotor. In some embodiments, in the voltage model, the battery voltagesmay correspond to the compensation amounts of the control signal of themotor in one-to-one manner. A subsequent time point at which the batteryvoltage drops and an amount of the voltage drop may be predicted at apresent time point according to the voltage model, and a compensationamount of the control signal of the motor corresponding to thesubsequent time point may be determined according to the amount of thevoltage drop, i.e., the predicted amount of the voltage drop,corresponding to the subsequent time point.

At S303, the control signal of the motor is modified at the present timepoint according to the compensation amount of the control signal.

According to the compensation amount of the control signal of the motorcorresponding to the subsequent time point, the control signal of themotor is modified at the present time point. In some embodiments, at thepresent time point, the compensation amount may be added to the controlsignal of the motor to prevent a drop of the motor rotation speed causedby a drop of the battery voltage at the subsequent time point.

In some embodiments, through a preset voltage model, a one-to-onecorrespondence between battery voltages and preset compensation amountsmay be determined. A compensation amount of the control signal of themotor corresponding to the subsequent time point may be calculatedaccording to a present battery voltage and the preset voltage model. Thecontrol signal of the motor may be modified at the present time point toprevent a drop of the motor rotation speed caused by a drop of thebattery voltage at the subsequent time point, thereby improvingtimeliness of modifying the control signal of the motor.

The present disclosure provides another motor control method. In someembodiments, in addition to the above-described example, a compensationamount of the control signal of the motor may be calculated through afeedback control approach, and the control signal of the motor may bemodified according to the compensation amount of the control signal.FIG. 4 is a flowchart of an exemplary motor control method consistentwith various disclosed embodiments of the present disclosure. Withreference to FIG. 4, the method is described below.

At S401, a present battery voltage is obtained.

Process S401 is same as or similar to process S301, descriptions ofwhich are omitted here.

At S402, a compensation amount of the control signal of the motor iscalculated in real time according to the present battery voltage.

In some embodiments, the control signal of the motor may control arotation speed of the motor. After the control apparatus obtains thepresent battery voltage, if the present battery voltage is lower than afull battery voltage, and under the condition that the throttle signalis fixed, the rotation speed of the motor may have decreased. A neededcompensation amount of the rotation speed of the motor may be calculatedin real time at the present time point.

At S403, the control signal of the motor is modified according to thecompensation amount of the control signal.

After the control apparatus calculates the compensation amount of therotation speed of the motor that needs to be compensated, the controlapparatus may actively increase the rotation speed of the motor. In someembodiments, the compensation amount may be added to the decreasedrotation speed of the motor to prevent the rotation speed of the motorfrom being changed by the fluctuation of the battery voltage.

In some embodiments, a compensation amount of the control signal of themotor may be calculated in real time, and thus the control signal of themotor may be calculated according to the compensation amount of thecontrol signal, thereby improving real time performance of modifying thecontrol signal of the motor.

The present disclosure provides another motor control method. In someembodiments, in addition to the above-described examples, a compensationamount of the voltage of the motor may be calculated through a feedbackcontrol approach, and an original voltage outputted by the ESC to themotor may be modified according to the compensation amount of thevoltage of the motor. FIG. 5 is a flowchart of another exemplary motorcontrol method consistent with various disclosed embodiments of thepresent disclosure. With reference to FIG. 5, the method is describedbelow.

At S501, a present battery voltage is obtained.

Process S501 is same as or similar to process S301, descriptions ofwhich are omitted here.

At S502, a compensation amount of the voltage outputted to the motor iscalculated in real time according to the present battery voltage.

The compensation amount of the voltage of the motor may be determinedaccording to a difference between the full battery voltage and thepresent battery voltage. A formula for calculating the compensationamount of the voltage may be

${P = {\left( {V_{0} - V_{t}} \right)*\frac{S_{t}}{V_{0}}}},$where P denotes the compensation amount of the voltage outputted to themotor, V₀ denotes the full battery voltage, t denotes the present timepoint, V_(t) denotes the present battery voltage, S_(t) denotes avoltage value corresponding to a throttle signal at the present timepoint.

For example, the full battery voltage may be 5V, the ESC may output avoltage to the motor at one of five levels. A first level may correspondto an output voltage of approximately 1 V. A second level may correspondto an output voltage of approximately 2 V. A third level may correspondto an output voltage of approximately 3 V. A fourth level may correspondto an output voltage of approximately 4 V. A fifth level may correspondto an output voltage of approximately 5 V. The output voltage ofapproximately 1 V may correspond to a motor rotation speed ofapproximately 100 revolutions per second (RPS). The output voltage ofapproximately 2 V may correspond to a motor rotation speed ofapproximately 200 RPS. The output voltage of approximately 3 V maycorrespond to a motor rotation speed of approximately 300 RPS. Theoutput voltage of approximately 4 V may correspond to a motor rotationspeed of approximately 400 RPS. The output voltage of approximately 5 Vmay correspond to a motor rotation speed of approximately 500 RPS.Assuming that the throttle signal is approximately 2, the output voltageof the ESC outputted to the motor may be controlled to be approximately2V. Thus, the motor rotation speed may be controlled to be approximately200 RPS. As the battery discharges, the battery voltage may continuouslydrop. If a present battery voltage is approximately 3V and the throttlesignal received by the ESC does not change, then for a full batteryvoltage of approximately 5V, an actual output voltage outputted by theESC to the motor may be 3/5*2=1.2V. According to the formula

${P = {\left( {V_{0} - V_{t}} \right)*\frac{S_{t}}{V_{0}}}},$the voltage compensation amount may be (5−3)*2/5=0.8V.

At S503, the original voltage outputted to the motor is modifiedaccording to the compensation amount of the voltage of the motor.

Approximately 0.8 V may be added to the voltage of the approximately 1.2V outputted by the ESC to the motor, to ensure that under the control ofa same throttle signal, the motor rotation speed does not change withthe variation of the battery voltage.

In some embodiments, a compensation amount of the voltage outputted tothe motor may be calculated in real time, and the original voltageoutputted to the motor may be modified according to the compensationamount of the voltage of the motor, thereby improving an accuracy ofmodifying the control signal of the motor.

The present disclosure provides another motor control method. In someembodiments, the battery voltage may be controlled in using hardware,such that the output voltage of the battery may be held stable, and arotation speed of the motor may be prevented from fluctuating along withthe fluctuation of the battery voltage. FIG. 6 is a flowchart of anotherexemplary motor control method consistent with various disclosedembodiments of the present disclosure. With reference to FIG. 6, themethod is described below.

At S601, a present electrical parameter of the battery is obtained.

The present electrical parameter of the battery includes at least one ofa present charge quantity of the battery, a present voltage of thebattery, a present output electrical current of the battery, or apresent internal resistance of the battery.

FIG. 7 is a topological diagram of an exemplary motor control methodconsistent with various disclosed embodiments of the present disclosure.As shown in FIG. 7, a voltage sensor 24 is coupled to the power supply,i.e., the battery, in parallel. Through the voltage sensor 24, theoutput voltage of the battery may be detected in real time orperiodically.

At S602, a voltage compensation amount of the battery is calculatedaccording to the present electrical parameter.

In some embodiments, the voltage compensation amount of the battery maybe calculated according to a present battery voltage and a full batteryvoltage. The voltage compensation amount may be equal to a differencebetween the full battery voltage and the present battery voltage.

When the voltage sensor 24 detects the present battery voltage, amagnitude of the present battery voltage may be transmitted to a switchcontroller 25, and the switch controller 25 may calculate an amplitudedrop of the battery voltage. For example, the full battery voltage maybe approximately 5V, the present battery voltage may be approximately4.5V, and thus the voltage compensation amount of the battery may beapproximately 0.5V.

At S603, the output voltage of the battery is compensated according tothe voltage compensation amount to maintain a stable output voltage ofthe battery.

As shown in FIG. 7, the battery 20 is coupled to an external powersupply 27 through a switch 26. As the battery voltage drops, the switchcontroller 25 turns on the switch 26 to electrically couple the battery20 to the external power supply 27. The external power supply 27compensates the battery 20 by a voltage of approximately 0.5 V, toensure that the output voltage of the battery is held at approximately5V.

In some embodiments, in response to the voltage sensor 24 detecting thatthe present battery voltage is lower than the full battery voltage, theswitch controller 25 may directly turn on the switch 26 to electricallycouple the battery 20 to the external power supply 27, and the externalpower supply 27 may add a voltage to the battery. In response to thevoltage sensor 24 detecting that the present battery voltage recovers tothe full battery voltage, the switch controller 25 may directly cut,i.e., turn off, the switch 26. In response to the voltage sensor 24detecting that the present battery voltage decreases again, the switchcontroller 25 may repeat the operation of turning on the switch 26 andsubsequent operations.

In some embodiments, a present electrical parameter of the battery maybe detected, and a voltage compensation amount of the battery may becalculated according to the present electrical parameter. An outputvoltage of the battery may be compensated according to the voltagecompensation amount, such that the output voltage of the battery is heldstable. Accordingly, the control signal of the motor may be preventedfrom fluctuating with the change of the electrical parameter of thebattery. Correspondingly, motor control signals under control of a samethrottle signal may be prevented from being different. Thus, when a UAVperforms actions that need high mobility, occurrence of issues of slowresponse and decreasing power of the UAV during a flight may besuppressed.

The present disclosure provides another motor control apparatus. FIG. 8is a block diagram of an exemplary control apparatus consistent withvarious disclosed embodiments of the present disclosure. As shown inFIG. 8, the motor control apparatus 80 includes one or more processors81. The one or more processors 81 are configured to obtain a presentelectrical parameter, calculate a compensation amount of the controlsignal of the motor according to the present electrical parameter, andmodify a control signal of the motor according to the compensationamount of the control signal.

The control apparatus of the present disclosure may be configured toexecute one of the methods consistent with the disclosure, such as theexample method described above in connection with FIG. 1. Detaileddescriptions of functions of the control apparatus are omitted here.

In some embodiments, a compensation amount of the control signal of themotor may be calculated according to the present electrical parameter ofthe battery, and the control signal of the motor may be modifiedaccording to the compensation amount of the control signal, such thatthe control signal of the motor is prevented from fluctuating along withthe change of the electrical parameter of the battery. Correspondingly,motor control signals under control of a same throttle signal may beprevented from being different. Thus, when a UAV performs actions thatneed high mobility, occurrence of issues of slow response and decreasingpower of the UAV during a flight may be suppressed.

Further, as shown in FIG. 8, the motor control apparatus 80, i.e., thecontrol apparatus of the motor, also includes an electrical parameterdetection circuit 82. The electrical parameter detection circuit 82 iselectrically coupled to the one or more processors 81 and configured todetect the present electrical parameter of the battery.

In some embodiments, the electrical parameter detection circuit 82 mayinclude at least one of a coulometer, a voltage detection circuit, anelectrical current detection circuit, or a resistance detection circuit.

In some embodiments, the one or more processors 81 may be configured tocalculate a compensation amount of the control signal of the motorcorresponding to a subsequent time point according to the presentbattery voltage and a preset voltage model. In some embodiments, in thepreset voltage model, battery voltages may correspond to presetcompensation amounts in a one-to-one manner. The one or more processors81 may be further configured to modify, at a present time point, acontrol signal of the motor according to the compensation amount of thecontrol signal.

In some embodiments, the one or more processors 81 may be configured tocalculate in real time a compensation amount of the control signal ofthe motor according to the present battery voltage.

Further, the one or more processors 81 may be configured to calculate inreal time a compensation amount of the voltage outputted to the motoraccording to the present battery voltage, and modify an original voltageoutputted to the motor according to the compensation amount of thevoltage of the motor.

The control apparatus of the present disclosure may be configured toexecute one of the methods consistent with the disclosure, such as oneof the example methods described above in connection with FIGS. 3-5.Detailed descriptions of functions of the control apparatus are omittedhere.

In some embodiments, through a preset model, a one-to-one correspondencebetween battery voltages and preset compensation amounts may bedetermined. A compensation amount of the control signal of the motorcorresponding to a subsequent time point may be calculated according toa present battery voltage and the preset voltage model. Further, thecontrol signal of the motor may be modified at the present time point toprevent a drop of the motor rotation speed caused by a drop of thebattery voltage at the subsequent time point, thereby improvingtimeliness of modifying the control signal of the motor. Further, acompensation amount of the control signal of the motor may be calculatedin real time, and the control signal of the motor may be calculatedaccording to the compensation amount of the control signal, therebyimproving real time performance of modifying the control signal of themotor. The compensation amount of the voltage outputted to the motor maybe calculated in real time, and an original voltage outputted to themotor may be modified according to the compensation amount of thevoltage of the motor, thereby improving an accuracy of modifying thecontrol signal of the motor.

The present disclosure provides a power system. FIG. 9 is a blockdiagram of an exemplary power system 90 consistent with variousdisclosed embodiments of the present disclosure. As shown in FIG. 9, thepower system 90 includes a motor 91 and the control apparatus 80. Thecontrol apparatus 80 is electrically coupled to the motor 91 andconfigured to control the motor 91. The control apparatus 80, i.e., themotor control apparatus, includes the one or more processors 81. The oneor more processors 81 are configured to obtain a present electricalparameter of a battery, calculate a compensation amount of the controlsignal of the motor according to the present electrical parameter, andmodify a control signal of the motor according to the compensationamount of the control signal.

In some embodiments, the control apparatus 80 further includes theelectrical parameter detection circuit 82. The electrical parameterdetection circuit 82 is electrically coupled to the processor 81 fordetecting the present electrical parameter of the battery.

The electrical parameter detection circuit 82 may include at least oneof a coulometer, a voltage detection circuit, an electrical currentdetection circuit, or a resistance detection circuit.

In some embodiments, a compensation amount of the control signal of themotor may be calculated according to the present electrical parameter ofthe battery, and the control signal of the motor may be modifiedaccording to the compensation amount of the control signal, such thatthe control signal of the motor is prevented from fluctuating along withthe change of the electrical parameter of the battery. Correspondingly,motor control signals under control of a same throttle signal may beprevented from being different. Thus, when a UAV performs actions thatneed high mobility, occurrence of issues of slow response and decreasingpower of the UAV during a flight may be suppressed.

The present disclosure provides another motor control apparatus. FIG. 10is a block diagram of an exemplary motor control apparatus 100consistent with various disclosed embodiments of the present disclosure.As shown in FIG. 10, the control apparatus 100 includes one or moreprocessors 101. The one or more processors 101 are configured to obtaina present electrical parameter of a battery, calculate a voltagecompensation amount of the battery according to the present electricalparameter, and compensate an output voltage of the battery according tothe voltage compensation amount, such that the output voltage of thebattery is held stable.

The control apparatus of the present disclosure may be configured toexecute one of the methods consistent with the disclosure, such as themethod described above in connection with FIG. 6. Detailed descriptionsof functions of the control apparatus are omitted here.

In some embodiments, a present electrical parameter of the battery maybe detected, and a voltage compensation amount of the battery may becalculated according to the present electrical parameter. An outputvoltage of the battery may be compensated according to the voltagecompensation amount, such that the output voltage of the battery is heldstable. Accordingly, the control signal of the motor may be preventedfrom fluctuating with the change of the electrical parameter of thebattery. Correspondingly, motor control signals under control of a samethrottle signal may be prevented from being different. Thus, when a UAVperforms actions that need high mobility, occurrence of issues of slowresponse and decreasing power of the UAV during a flight may besuppressed.

Further, the motor control apparatus 100 also includes an electricalparameter detection circuit 102. The electrical parameter detectioncircuit 102 is electrically coupled to the processor 101 for detectingthe present electrical parameter of the battery.

The electrical parameter detection circuit 102 may include at least oneof a coulometer, a voltage detection circuit, an electrical currentdetection circuit, or a resistance detection circuit.

The present disclosure provides another power system. FIG. 11 is a blockdiagram of another exemplary power system 110 consistent with variousdisclosed embodiments of the present disclosure. As shown in FIG. 11,the power system 110 includes a motor 111 and the control apparatus 100.The control apparatus 100 is electrically coupled to the motor 111 andconfigured to control the motor 111. The control apparatus 100 includesthe one or more processors 101. The one or more processors 101 areconfigured to obtain a present electrical parameter of a battery,calculate a voltage compensation amount of the battery according to thepresent electrical parameter, and to compensate an output voltage of thebattery according to the voltage compensation amount to maintain theoutput voltage of the battery stable.

Further, the control apparatus 100 also includes the electricalparameter detection circuit 102. The electrical parameter detectioncircuit 102 is electrically coupled to the processor 101 for detectingthe present electrical parameter of the battery.

The electrical parameter detection circuit 102 may include at least oneof a coulometer, a voltage detection circuit, an electrical currentdetection circuit, or a resistance detection circuit.

In some embodiments, a present electrical parameter of the battery maybe detected, and a voltage compensation amount of the battery may becalculated according to the present electrical parameter. An outputvoltage of the battery may be compensated according to the voltagecompensation amount, such that the output voltage of the battery is heldstable. Accordingly, the control signal of the motor may be preventedfrom fluctuating with the change of the electrical parameter of thebattery. Correspondingly, motor control signals under control of a samethrottle signal may be prevented from being different. Thus, when a UAVperforms actions that need high mobility, occurrence of issues of slowresponse and decreasing power of the UAV during a flight may besuppressed.

The present disclosure provides an unmanned aerial vehicle (UAV). FIG.12 is a schematic structural diagram of an exemplary UAV consistent withvarious disclosed embodiments of the present disclosure. As shown inFIG. 12, the UAV includes a fuselage, a power system 1001, a propeller1002, a flight controller, and an electronic speed controller (ESC)1003. In some embodiments, the power system 1001 includes the powersystem 90 shown in FIG. 9. The power system 90 may be mounted at thefuselage for providing flight power. As shown in FIG. 9, the powersystem 90 includes the motor 91 and the control apparatus 80. Thecontrol apparatus 80 is electrically coupled to the motor 91 andconfigured to control the motor 91. The control apparatus 80 includesthe one or more processors 81. The one or more processors 81 areconfigured to obtain a present electrical parameter, calculate acompensation amount of the control signal of the motor according to thepresent electrical parameter, and modify a control signal of the motoraccording to the compensation amount of the control signal.

Further, the control apparatus 80 includes the electrical parameterdetection circuit 82. The electrical parameter detection circuit 82 iselectrically coupled to the processor 81 and configured to detect thepresent electrical parameter of the battery.

Further, the electrical parameter detection circuit 82 may include atleast one of a coulometer, a voltage detection circuit, an electricalcurrent detection circuit, or a resistance detection circuit.

In some embodiments, a compensation amount of the control signal of themotor may be calculated according to the present electrical parameter ofthe battery, and the control signal of the motor may be modifiedaccording to the compensation amount of the control signal, such thatthe control signal of the motor is prevented from fluctuating along withthe change of the electrical parameter of the battery. Correspondingly,motor control signals under control of a same throttle signal may beprevented from being different. Thus, when a UAV performs actions thatneed high mobility, occurrence of issues of slow response and decreasingpower of the UAV during a flight may be suppressed.

The present disclosure provides another UAV. As shown in FIG. 12, insome embodiments, the UAV includes the fuselage, the power system 1001,the propeller 1002, the flight controller, and the ESC1003. In someembodiments, the power system 1001 includes the power system 110 shownin FIG. 11. The power system 110 is mounted at the fuselage andconfigured to provide flight power. The power system 110 includes themotor 111 and the control apparatus 100. The control apparatus 100 iselectrically coupled to the motor 111 and configured to control themotor 111. The control apparatus 100 includes the one or more processors101. The processors 101 are configured to obtain a present electricalparameter of the battery, calculate a voltage compensation amount of thebattery according to the present electrical parameter, and compensate anoutput voltage of the battery according to the voltage compensationamount to maintain the output voltage of the battery stable.

Further, the control apparatus 100 includes the electrical parameterdetection circuit 102. The electrical parameter detection circuit 102 iselectrically coupled to the processor 101 and configured to detect thepresent electrical parameter of the battery.

Further, the electrical parameter detection circuit 102 may include atleast one of a coulometer, a voltage detection circuit, an electricalcurrent detection circuit, or a resistance detection circuit.

In these embodiments, a present electrical parameter of the battery maybe detected, and a voltage compensation amount of the battery may becalculated according to the present electrical parameter. An outputvoltage of the battery may be compensated according to the voltagecompensation amount, such that the output voltage of the battery is heldstable. Accordingly, the control signal of the motor may be preventedfrom fluctuating with the change of the electrical parameter of thebattery. Correspondingly, motor control signals under control of a samethrottle signal may be prevented from being different. Thus, when a UAVperforms actions that need high mobility, occurrence of issues of slowresponse and decreasing power of the UAV during a flight may besuppressed.

In some embodiments, a compensation amount of the control signal of themotor may be calculated according to a present electrical parameter ofthe battery, and a control signal of the motor may be modified accordingto the compensation amount of the control signal, such that the controlsignal of the motor is prevented from fluctuating along with the changeof the electrical parameter of the battery. Correspondingly, motorcontrol signals under control of a same throttle signal may be preventedfrom being different. Thus, when a UAV performs actions that need highmobility, occurrence of issues of slow response and decreasing power ofthe UAV during a flight may be suppressed. A compensation amount of thecontrol signal of the motor may be calculated according to the presentelectrical parameter of the battery, and the control signal of the motormay be modified according to the compensation amount of the controlsignal, such that the control signal of the motor is prevented fromfluctuating along with the change of the electrical parameter of thebattery. Correspondingly, motor control signals under control of a samethrottle signal may be prevented from being different. Thus, when a UAVperforms actions that need high mobility, occurrence of issues of slowresponse and decreasing power of the UAV during a flight may besuppressed.

Those of ordinary skill in the art will appreciate that the exemplaryelements and algorithm steps described above can be implemented inelectronic hardware, or in a combination of computer software andelectronic hardware. Whether these functions are implemented in hardwareor software depends on the specific application and design constraintsof the technical solution. One of ordinary skill in the art can usedifferent methods to implement the described functions for differentapplication scenarios, but such implementations should not be consideredas beyond the scope of the present disclosure.

For the convenience and conciseness of the descriptions, only theabove-described functional modules as divided are used as examples forillustrations. In actual applications, the above-described functions maybe distributed to and implemented by different functional modulesaccording to various application scenarios. That is, the internalstructures of exemplary systems, devices, and units can be divided intodifferent functional modules to complete all or some of the functionsdescribed above. For simplification purposes, detailed descriptions ofthe operations of exemplary systems, devices, and units may be omittedand references can be made to the descriptions of the exemplary methods.

The disclosed systems, apparatuses, and methods may be implemented inother manners not described here. For example, the devices describedabove are merely illustrative. For example, the division of units mayonly be a logical function division, and there may be other manners ofdividing the units. For example, multiple units or components may becombined or may be integrated into another system, or some features maybe ignored, or not executed. Further, the coupling or direct coupling orcommunication connection shown or discussed may include a directconnection or an indirect connection or communication connection throughone or more interfaces, devices, or units, which may be electrical,mechanical, or in other form.

The units described as separate components may or may not be physicallyseparate, and a component shown as a unit may or may not be a physicalunit. That is, the units may be located in one place or may bedistributed over a plurality of network elements. Some or all of thecomponents may be selected according to the actual needs to achieve theobject of the present disclosure.

In addition, the functional units in the various embodiments of thepresent disclosure may be integrated in one processing unit, or eachunit may be an individual physically unit, or two or more units may beintegrated in one unit. The above-described integrated units can beimplemented in electronic hardware, or in a combination of computersoftware and electronic hardware.

A method consistent with the disclosure can be implemented in the formof computer program stored in a non-transitory computer-readable storagemedium, which can be sold or used as a standalone product. The computerprogram can include instructions that enable a computing device, such asa processor, a personal computer, a server, or a network device, toperform part or all of a method consistent with the disclosure, such asone of the exemplary methods described above. The storage medium can beany medium that can store program codes, for example, a USB disk, amobile hard disk, a read-only memory (ROM), a random access memory(RAM), a magnetic disk, or an optical disk.

Other embodiments of the disclosure will be apparent to those skilled inthe art from consideration of the specification and practice of theembodiments disclosed herein. It is intended that the specification andexamples be considered as exemplary only and not to limit the scope ofthe disclosure, with a true scope and spirit of the invention beingindicated by the following claims.

What is claimed is:
 1. An unmanned aerial vehicle (UAV) comprising: afuselage; a motor mounted at the fuselage; and a control apparatusconfigured to control the motor, the control apparatus including one ormore processors configured to: obtain a present electrical parameter ofa battery configured to power the motor; calculate a compensation amountof a control signal of the motor according to the present electricalparameter; and modify the control signal according to the compensationamount.
 2. The UAV according to claim 1, further comprising: anelectrical parameter detection circuit electrically coupled to the oneor more processors and configured to detect the present electricalparameter.
 3. The UAV according to claim 2, wherein the electricalparameter detection circuit includes at least one of a coulometer, avoltage detection circuit, an electrical current detection circuit, or aresistance detection circuit.
 4. The UAV according to claim 1, whereinthe present electrical parameter includes at least one of a presentcharge quantity of the battery, a present voltage of the battery, apresent output electrical current of the battery, or a present internalresistance of the battery.
 5. The UAV according to claim 1, wherein thecontrol signal includes at least one of a control signal configured tocontrol a rotation speed of the motor or a control signal configured tocontrol an output power of the motor.
 6. The UAV according to claim 1,wherein: the present electrical parameter of the battery includes apresent voltage of the battery; and the one or more processors arefurther configured to calculate the compensation amount of the controlsignal of the motor corresponding to a subsequent time point accordingto the present voltage of the battery and a preset voltage modelincluding one-to-one correspondences between voltages of the battery andpreset compensation amounts.
 7. The UAV according to claim 6, whereinthe one or more processors are further configured to modify, at apresent time point, the control signal according to the compensationamount.
 8. The UAV according to claim 1, wherein: the present electricalparameter of the battery includes a present voltage of the battery; andthe one or more processors are further configured to calculate in realtime the compensation amount of the control signal of the motoraccording to the present voltage of the battery.
 9. The UAV according toclaim 8, wherein the one or more processors are further configured to:calculate in real time a compensation amount of a voltage outputted tothe motor according to the present voltage of the battery; and modify anoriginal voltage outputted to the motor according to the compensationamount of the voltage outputted to the motor.
 10. The UAV according toclaim 9, wherein the compensation amount of the voltage is determinedaccording to a difference between a full voltage of the battery and thepresent voltage of the battery.
 11. An unmanned aerial vehicle (UAV)comprising: a fuselage; a motor mounted at the fuselage; and a controlapparatus configured to control the motor, the control apparatusincluding one or more processors configured to: obtain a presentelectrical parameter of a battery configured to power the motor;calculate a voltage compensation amount of the battery according to thepresent electrical parameter; and compensate an output voltage of thebattery according to the voltage compensation amount to maintain theoutput voltage of the battery stable.
 12. The UAV according to claim 11,further comprising: an electrical parameter detection circuitelectrically coupled to the one or more processors and configured todetect the present electrical parameter.
 13. The UAV according to claim12, wherein the electrical parameter detection circuit includes at leastone of a coulometer, a voltage detection circuit, an electrical currentdetection circuit, or a resistance detection circuit.
 14. The UAVaccording to claim 11, wherein the present electrical parameter of thebattery includes at least one of a present charge quantity of thebattery, a present voltage of the battery, a present output electricalcurrent of the battery, or a present internal resistance of the battery.15. The UAV according to claim 11, wherein: the present electricalparameter of the battery includes a present voltage of the battery; andthe one or more processors are further configured to calculate thevoltage compensation amount of the battery according to the presentvoltage of the battery and a full voltage of the battery.
 16. The UAVaccording to claim 15, wherein the voltage compensation amount iscalculated to be a difference between the full voltage of the batteryand the present voltage of the battery.
 17. The UAV according to claim11, further comprising: a switch coupling the battery to an externalpower supply; and the one or more processors are further configured toturn on the switch to compensate the output voltage of the battery bythe external power supply.
 18. The UAV according to claim 11, whereinthe one or more processors are further configured to obtain the presentelectrical parameter of the battery in real time or periodically.